DRAFT December 5, 1998

Outline of the derivation of Cauchy Equations of Motion

Eulers 1st and 2nd laws These integral equations apply to any sub-body B :
Net force = rate of linear momentum: Net torque = rate of angular momentum: D F NET = ----Dt D T NET = ----Dt

v dV .

(1) (2)

x v dV .

Utilize conservation of mass Noting that dV = o d V o , conservation of mass permits the time derivative to be brought inside the integrals, so that
F NET = T NET =
B

a dV . x a dV ,

(Generalizes Newtons 2nd law, F=ma)

(3) (4)

where a = v , and Eq. (4) also employed the fact that x = v so that x v = 0 .

Stress principle of Euler and Cauchy: The effect of an external body can be represented through a traction (force per area) vector t . Then, letting b denote the body force per unit mass (e.g. gravity), and assuming no point forces, no point moments, and no distributed moments (e.g. no dipoles in an electric eld), the net force and net torque may be written:
F NET = T NET =
B

t dS +

b dV
B

(5) (6)

x t dS +

x b dV

Cauchys fundamental stress theorem Begin with a key assumption that, in addition to varying in space and time, the traction t is also a function of the unit normal n of the surface. Cauchys fundamental theorem states that this dependence is linear and consequently there exists a tensor ( x, t ) such that t = n . Outline of proof: i. Start with a small tetrahedron with sides labeled 1 through 4. n2 d A2 n1 d A1 ii. Put t = t ( x, t, n ) in Eq. (5), and this into Eulers 1st law, Eq. (1). As the size of the tetrahedron goes to zero, the surface integral dominates (it is of order L 2 with respect to the tetrahedrons n3 d A3 n4 d A4 characteristic length L, whereas volume integrals are of order
L 3 ). As the tetrahedron shrinks to a point, Eulers 1st law requires that the vector sums of the forces (traction times area) on the faces must equilibrate:

DRAFT December 5, 1998

k =

t ( n k ) A k = 0 , and therefore t ( n 4 ) = 1
B

k = 1

Ak k t ( n k ) where k = ----- . A4

(7)

iii. For any body B, n d A = 0 . Applying this fact to the tetrahedron gives

n4 =

k = 1

k nk
3 3

(8)

iv. Putting (8) into (7) shows that t ( k n k ) = k t ( n k ) , which holds for k=1 k=1 any proportions of the tetrahedron, and therefore the dependence on the unit normal must be linear , completing the proof of existence of .
1

Cauchys rst law. Putting t = n into (5) and applying the divergence theorem, Eulers 1st law becomes:
B

dV + b dV
B

a dV

(9)

This must hold for all B , so the integrands must be equal. This gives the local form of balance of linear momentum, AKA Cauchys 1st law: + b = a (10)

Cauchys second law. Similarly putting t = n into Eq. (6), applying the divergence theorem leads to the opportunity to apply the product rule ( x ) = x ( ) : , Then Eulers 2nd law becomes

: dV

[ x ( + b a ) ] dV

(11)

The right hand side is zero due to Cauchys 1st law. This must hold for all B and therefore the left integrand : must be zero, which is possible only if is symmetric. This simple con clusion is the local form of balance of angular momentum, AKA Cauchys 2nd law: = T
Beware: this would not be true if there were distributed moments!

(12)

Incidentally, this result allows us to write as , which will probably be more famil iar to your readers.
1. By positivity of area, the k coefcients are always negative, so it might seem that linearity has been proved only for negative coefcients. However, by applying Eulers 1st law to a thin wafer of material in the limit as the wafers thickness goes to zero, we obtain Newtons 3rd law that every action has an equal and opposite reaction; that is, t ( n k ) = t ( n k ) .

DRAFT December 5, 1998

BOUNDARY VALUE PROBLEMS

TABLE 1. Governing equations (independent variables are time and position) Description Equation number of independent equations 1 Unknown dependent variables single scalar three v k 3 three nine 3 3 3 6 six e ij three

Conservation of mass (AKA continuity) Balance of linear momentum Balance of angular momentum Kinematical relation Kinematical relation Strain-displacement relation

= v a = + b T = v = u a = v 1 e = -- ( h + h T h T h ) , where 2 u i h ij = ------- . x j t = f ( e ) , or Viscous: = f ( D ) , where v i v j 1 D ij = -- ------- + ------- 2 x j t x i t

Elasticity:

ak , ij

uk

Constitutive law. Varies depending on the material. Generally relates stress to strain gradients and/or velocity gradients.

There are 25 equations and 25 unknowns. Constitutive equations are necessary to close the system of equations. The body force is presumed known (if unknown, it may be related to other elds which are governed by further equations. For example, an electrical repulsive force is dictated by the response of a charge density to an electric eld, which is in turn governed by Maxwells equations). Above, the time rates are material rates they hold the reference position X constant. However the gradients in the above equations are with respect to the spatial position x . To convert the above system to only two independent variables, x and t, the material deriva tives must be converted (e.g., = ( t ) x + v ). After making these substitutions, it becomes clear that these equations are highly nonlinear and must be solved numerically (except for highly simplied geometries or constitutive equations). For such boundary value problems, initial values for the dependent variables are usually be specied. The spatial boundary conditions can be expressed in several possible forms:

u = u ( x, t ) on B u . For example, a xed end has zero displacement. 2. Prescribed traction: t = t ( x, t ) on B t . For example, a free surface has zero traction. 3. Single components: On a surface you can have one traction component specied and a different component of displace1. Prescribed displacement: 4. ment specied. For example, a frictionless surface has zero traction components in the plane and zero displacement components normal to the plane. Most generally, B.C.s are of the form f ( t, u ) = 0 . For example, a spring boundary condition would make traction proportional to displacement.